// MIT License

// Copyright (c) 2019 Erin Catto

// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:

// The above copyright notice and this permission notice shall be included in all
// copies or substantial portions of the Software.

// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
// SOFTWARE.

#include "test.h"
#include "box2d/b2_distance.h"

class ShapeCast : public Test
{
public:
    enum
    {
        e_vertexCount = 8
    };

    ShapeCast()
    {
#if 1
        m_vAs[0].Set(-0.5f, 1.0f);
        m_vAs[1].Set(0.5f, 1.0f);
        m_vAs[2].Set(0.0f, 0.0f);
        m_countA  = 3;
        m_radiusA = b2_polygonRadius;

        m_vBs[0].Set(-0.5f, -0.5f);
        m_vBs[1].Set(0.5f, -0.5f);
        m_vBs[2].Set(0.5f, 0.5f);
        m_vBs[3].Set(-0.5f, 0.5f);
        m_countB  = 4;
        m_radiusB = b2_polygonRadius;

        m_transformA.p.Set(0.0f, 0.25f);
        m_transformA.q.SetIdentity();
        m_transformB.p.Set(-4.0f, 0.0f);
        m_transformB.q.SetIdentity();
        m_translationB.Set(8.0f, 0.0f);
#elif 0
        m_vAs[0].Set(0.0f, 0.0f);
        m_countA  = 1;
        m_radiusA = 0.5f;

        m_vBs[0].Set(0.0f, 0.0f);
        m_countB  = 1;
        m_radiusB = 0.5f;

        m_transformA.p.Set(0.0f, 0.25f);
        m_transformA.q.SetIdentity();
        m_transformB.p.Set(-4.0f, 0.0f);
        m_transformB.q.SetIdentity();
        m_translationB.Set(8.0f, 0.0f);
#else
        m_vAs[0].Set(0.0f, 0.0f);
        m_vAs[1].Set(2.0f, 0.0f);
        m_countA  = 2;
        m_radiusA = b2_polygonRadius;

        m_vBs[0].Set(0.0f, 0.0f);
        m_countB  = 1;
        m_radiusB = 0.25f;

        // Initial overlap
        m_transformA.p.Set(0.0f, 0.0f);
        m_transformA.q.SetIdentity();
        m_transformB.p.Set(-0.244360745f, 0.05999358f);
        m_transformB.q.SetIdentity();
        m_translationB.Set(0.0f, 0.0399999991f);
#endif
    }

    static Test* Create() { return new ShapeCast; }

    void Step(Settings& settings) override
    {
        Test::Step(settings);

        b2ShapeCastInput input;
        input.proxyA.Set(m_vAs, m_countA, m_radiusA);
        input.proxyB.Set(m_vBs, m_countB, m_radiusB);
        input.transformA   = m_transformA;
        input.transformB   = m_transformB;
        input.translationB = m_translationB;

        b2ShapeCastOutput output;
        bool hit = b2ShapeCast(&output, &input);

        b2Transform transformB2;
        transformB2.q = m_transformB.q;
        transformB2.p = m_transformB.p + output.lambda * input.translationB;

        b2DistanceInput distanceInput;
        distanceInput.proxyA.Set(m_vAs, m_countA, m_radiusA);
        distanceInput.proxyB.Set(m_vBs, m_countB, m_radiusB);
        distanceInput.transformA = m_transformA;
        distanceInput.transformB = transformB2;
        distanceInput.useRadii   = false;
        b2SimplexCache simplexCache;
        simplexCache.count = 0;
        b2DistanceOutput distanceOutput;

        b2Distance(&distanceOutput, &simplexCache, &distanceInput);

        DrawString(5, m_textLine, "hit = %s, iters = %d, lambda = %g, distance = %g", hit ? "true" : "false",
                   output.iterations, output.lambda, distanceOutput.distance);

        b2Vec2 vertices[b2_maxPolygonVertices];

        for (int32 i = 0; i < m_countA; ++i)
        {
            vertices[i] = b2Mul(m_transformA, m_vAs[i]);
        }

        if (m_countA == 1)
        {
            g_debugDraw.DrawCircle(vertices[0], m_radiusA, b2Color(0.9f, 0.9f, 0.9f));
        }
        else
        {
            g_debugDraw.DrawPolygon(vertices, m_countA, b2Color(0.9f, 0.9f, 0.9f));
        }

        for (int32 i = 0; i < m_countB; ++i)
        {
            vertices[i] = b2Mul(m_transformB, m_vBs[i]);
        }

        if (m_countB == 1)
        {
            g_debugDraw.DrawCircle(vertices[0], m_radiusB, b2Color(0.5f, 0.9f, 0.5f));
        }
        else
        {
            g_debugDraw.DrawPolygon(vertices, m_countB, b2Color(0.5f, 0.9f, 0.5f));
        }

        for (int32 i = 0; i < m_countB; ++i)
        {
            vertices[i] = b2Mul(transformB2, m_vBs[i]);
        }

        if (m_countB == 1)
        {
            g_debugDraw.DrawCircle(vertices[0], m_radiusB, b2Color(0.5f, 0.7f, 0.9f));
        }
        else
        {
            g_debugDraw.DrawPolygon(vertices, m_countB, b2Color(0.5f, 0.7f, 0.9f));
        }

        if (hit)
        {
            b2Vec2 p1 = output.point;
            g_debugDraw.DrawPoint(p1, 10.0f, b2Color(0.9f, 0.3f, 0.3f));
            b2Vec2 p2 = p1 + output.normal;
            g_debugDraw.DrawSegment(p1, p2, b2Color(0.9f, 0.3f, 0.3f));
        }
    }

    b2Vec2 m_vAs[b2_maxPolygonVertices];
    int32 m_countA;
    float m_radiusA;

    b2Vec2 m_vBs[b2_maxPolygonVertices];
    int32 m_countB;
    float m_radiusB;

    b2Transform m_transformA;
    b2Transform m_transformB;
    b2Vec2 m_translationB;
};

static int testIndex = RegisterTest("Collision", "Shape Cast", ShapeCast::Create);
